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Texturing: ignore polygons not facing the camera

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This commit is contained in:
matlabbe
2017-02-01 00:29:13 -05:00
parent bfb9feaf07
commit a1ceff8ce8
2 changed files with 47 additions and 27 deletions
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22
corelib/src/pcl18/surface/impl/texture_mapping.hpp
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@@ -1131,11 +1131,23 @@ pcl::TextureMapping<PointInT>::checkPointInsideTriangle(const pcl::PointXY &p1,
template<typename PointInT> inline bool
pcl::TextureMapping<PointInT>::isFaceProjected (const Camera &camera, const PointInT &p1, const PointInT &p2, const PointInT &p3, pcl::PointXY &proj1, pcl::PointXY &proj2, pcl::PointXY &proj3)
{
return (getPointUVCoordinates(p1, camera, proj1)
&&
getPointUVCoordinates(p2, camera, proj2)
&&
getPointUVCoordinates(p3, camera, proj3)
// check if the polygon is facing the camera, assuming counterclockwise normal
Eigen::Vector3f v0(
p2.x - p1.x,
p2.y - p1.y,
p2.z - p1.z);
Eigen::Vector3f v1(
p3.x - p1.x,
p3.y - p1.y,
p3.z - p1.z);
Eigen::Vector3f normal = v0.cross(v1);
return normal.dot(Eigen::Vector3f(0.0f,0.0f,-1.0f)) > 0.0f && // toward the camera
(getPointUVCoordinates(p1, camera, proj1)
&&
getPointUVCoordinates(p2, camera, proj2)
&&
getPointUVCoordinates(p3, camera, proj3)
);
}